IF_RobotConfiguration - Delta3Ax (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

NOTE: Using the transformation Delta3Ax requires license points.

License points are only required for library versions earlier than V2.6.1.0. For more information on license points, refer to License Model for PacDrive Software Packages.

Number of license points: 400

License string: ROB.Delta3Ax

The license points are requested during a successful call of the configuration method.

Robots of all types inherently present various hazards to machine operators, maintenance personnel, and commissioners. Some of these hazards may be the result of improper/invalid programming control or system parameterization/configuration. To help avoid as much as possible these hazards/situations, the library SchneiderElectricRobotics has been developed dedicated to Schneider Electric robots.

WARNING
	UNINTENDED ROBOT OPERATION Ensure that the library SchneiderElectricRobotics is used for operating a Schneider Electric robot. Failure to follow these instructions can result in death, serious injury, or equipment damage.

The Schneider Electric Robot library facilitates:

The parameterization of the robot.
The monitoring of the robot axes parameters.
- GearIn and GearOut
- FeedConstant
- Maximum current
- Direction
- Maximum speed
The monitoring of the work envelope of the robot.

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Configuring a triaxial Delta robot.

Description

With the method Delta3Ax(...), the robot can be configured as a triaxial Delta robot with three degrees of freedom.

NOTE: If a method to configure a transformation was already called up successfully (q_etDiag = ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok), then it is not possible to overwrite the parameterization by calling up another method to configure a transformation.

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis C.
i_lrLengthABC0	LREAL	Length of the distance between the axes A, B, and C and the center of the base plate. Value range: i_lrLengthABC0 > 0
i_lrLengthABC1	LREAL	Length of the upper arm mounted on Axis A, B, or C. Value range: i_lrLengthABC1 > 0
i_lrLengthABC2	LREAL	Length of the lower arm mounted on Axis A, B, or C. Value range: i_lrLengthABC2 > 0
i_lrLengthABC3	LREAL	Length of the distance between the suspension points of the lower arms and the center of the flange plate. Value range: i_lrLengthABC3 > 0

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	36	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	48	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	37	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	49	The drive B is invalid.
InputParameterInvalid	DriveCAlreadyInUse	38	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	50	The drive C is invalid.
InputParameterInvalid	LengthABC0Range	39	The LengthABC0 is out of range.
InputParameterInvalid	LengthABC1Range	40	The LengthABC1 is out of range.
InputParameterInvalid	LengthABC2Range	41	The LengthABC2 is out of range.
InputParameterInvalid	LengthABC3Range	42	The LengthABC3 is out of range.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.	Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed.

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	36
Description:	The drive A is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	48
Description:	The drive A is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is invalid.	At the input i_ifDriveA, a valid drive must be transferred.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	37
Description:	The drive B is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	49
Description:	The drive B is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is invalid.	At the input i_ifDriveB, a valid drive must be transferred.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	38
Description:	The drive C is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	50
Description:	The drive C is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is invalid.	At the input i_ifDriveC, a valid drive must be transferred.

LengthABC0Range

Enumeration name:	LengthABC0Range
Enumeration value:	39
Description:	The LengthABC0 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC0 is not within the valid range.	At the input i_lrLengthABC0, a value greater than 0 must be transferred.

LengthABC1Range

Enumeration name:	LengthABC1Range
Enumeration value:	40
Description:	The LengthABC1 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC1 is not within the valid range.	At the input i_lrLengthABC1, a value greater than 0 must be transferred.

LengthABC2Range

Enumeration name:	LengthABC2Range
Enumeration value:	41
Description:	The LengthABC2 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC2 is not within the valid range.	At the input i_lrLengthABC2, a value greater than 0 must be transferred.

LengthABC3Range

Enumeration name:	LengthABC3Range
Enumeration value:	42
Description:	The LengthABC3 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC3 is not within the valid range.	At the input i_lrLengthABC3, a value greater than 0 must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot transformation has already been completed successfully.	Ensure that a configuration for a transformation is only called once.